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__    __     ___      ______    _____     _  _   
\ \\ / //   / _ \\   /_   _//  |  ___||  | \| || 
 \ \/ //   / //\ \\  `-| |,-   | ||__    |  ' || 
  \  //   |  ___  ||   | ||    | ||__    | .  || 
   \//    |_||  |_||   |_||    |_____||  |_|\_|| 
    `     `-`   `-`    `-`'    `-----`   `-` -`

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Text this: Scene coordinate encoding for 3D representation and relocalization